Glider dive log

NORSE Jun23 * SG248 * Dive index * Mission links * Dive 80 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 248 TGT_DEFAULT_LON -12218 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 1.9639999e-06

MISSION 7 TGT_AUTO_DEFAULT 0 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -1

DIVE 80 SM_CC 605 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

N_DIVES 0 N_FILEKB 8 VBD_MIN 500 DEEPGLIDERMB 0

STOP_T 0 FILEMGR 0 VBD_MAX 3960 MOTHERBOARD 6

D_SURF 5 CALL_NDIVES 1 C_VBD 3000 DEVICE1 10

D_FLARE 3 COMM_SEQ 7 VBD_DBAND 2 DEVICE2 -1

D_TGT 250 PROTOCOL 9 VBD_CNV -0.24529999 DEVICE3 -1

D_ABORT 300 N_NOCOMM 2 VBD_LP_IGNORE 0 DEVICE4 -1

D_NO_BLEED 200 NOCOMM_ACTION 131 VBD_TIMEOUT 720 DEVICE5 -1

D_BOOST 0 N_NOSURFACE 0 PITCH_VBD_SHIFT 0.0015 DEVICE6 -1

T_BOOST 0 UPLOAD_DIVES_MAX -1 UNCOM_BLEED 20 LOGGERS 2

D_FINISH 0 NETBOX 1 VBD_MAXERRORS 1 LOGGERDEVICE1 7

D_PITCH 0 CALL_TRIES 15 C_VBD_AUTO_DELTA 0 LOGGERDEVICE2 72

D_SAFE 0 CALL_WAIT 60 C_VBD_AUTO_MAX 0 LOGGERDEVICE3 -1

D_CALL 0 CAPUPLOAD 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

SURFACE_URGENCY 0 CAPMAXSIZE 100000 DBDW 0 COMPASS_DEVICE 66

SURFACE_URGENCY_TRY 0 T_GPS 30 LOITER_W_DBAND 0 COMPASS2_DEVICE -1

SURFACE_URGENCY_FORCE 0 N_GPS 100440 LOITER_DBDW 0 PHONE_DEVICE 33

T_DIVE 83 T_RSLEEP 2 LOITER_D_TOP 0 GPS_DEVICE 48

T_MISSION 95 STROBE 0 LOITER_D_BOTTOM 0 RAFOS_DEVICE -1

T_ABORT 1440 RAFOS_PEAK_OFFSET 0 LOITER_N_DIVE 0 NAV_DEVICE -1

T_TURN 225 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 NAV2_DEVICE -1

T_TURN_SAMPINT -5 RAFOS_HIT_WINDOW 3600 AH0_24V 575 NETWORK_DEVICE -1

T_NO_W 120 RAFOS_MMODEM 0 AH0_10V 0 PRESSURE_DEVICE 34

T_LOITER 0 PITCH_MIN 205 MINV_24V 11 XPDR_DEVICE 21

T_EPIRB 0 PITCH_MAX 3600 MINV_10V 11 SIM_W 0.1

USE_BATHY -6 C_PITCH 2050 MAXI_24V 5 SEABIRD_T_G 0.0044090361

USE_ICE 0 PITCH_DBAND 0.1 MAXI_10V 1.5 SEABIRD_T_H 0.00064173015

ICE_FREEZE_MARGIN 0.30000001 PITCH_CNV 0.0041299998 FG_AHR_10V 59.570805 SEABIRD_T_I 2.932871e-05

D_OFFGRID 1000 PITCH_GAIN 14 FG_AHR_24V 123.19083 SEABIRD_T_J 3.827171e-06

RELAUNCH 1 PITCH_TIMEOUT 30 PHONE_SUPPLY 2 SEABIRD_C_G -9.9958668

APOGEE_PITCH -5 PITCH_MAXERRORS 1 PRESSURE_YINT 0 SEABIRD_C_H 1.1120801

MAX_BUOY 150 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 6.9999999e-07 SEABIRD_C_I -0.0034223681

GLIDE_SLOPE 30 PITCH_ADJ_DBAND 0 COMPASS_USE 16388 SEABIRD_C_J 0.00032313328

SPEED_FACTOR 1 C_PITCH_AUTO_DELTA 0 ALTIM_PING_FIT 0 OPTIONS 0

RHO 1.0275 C_PITCH_AUTO_MAX 0 ALTIM_TOP_PING_RANGE 0 SC_RECORDABOVE 2000.0

MASS 74553 PITCH_GAIN_AUTO_DELTA 0 ALTIM_BOTTOM_TURN_MARGIN 0 SC_PROFILE 3.0

NAV_MODE 0 PITCH_GAIN_AUTO_MAX 0 ALTIM_TOP_TURN_MARGIN 0 SC_XMITPROFILE 3.0

FERRY_MAX 45 PITCH_W_GAIN 0 ALTIM_TOP_MIN_OBSTACLE 1 SC_NDIVE 1.0

KALMAN_USE 2 PITCH_W_DBAND 0 ALTIM_PING_DEPTH 0 CP_RECORDABOVE 1000.0

HD_A 0.0025118899 ROLL_MIN 265 ALTIM_PING_DELTA 0 CP_PROFILE 3.0

HD_B 0.0146701 ROLL_MAX 3870 ALTIM_FREQUENCY 13 CP_XMITPROFILE 3.0

HD_C 5.7000002e-06 ROLL_DEG 80 ALTIM_PULSE 3 CP_UPLOADMAX 100000.0

HEADING -1 C_ROLL_DIVE 2360 ALTIM_SENSITIVITY 2 CP_STARTS 8.0

ESCAPE_HEADING 0 C_ROLL_CLIMB 2025 XPDR_VALID 4 CP_NDIVE 1.0

ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 XPDR_INHIBIT 90

FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.054945 XPDR_INT -1

TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 15 XPDR_REP -1

AH0_10V 0 D_CALL 0 NETBOX 1 SEABIRD_C_H 1.1120801

AH0_24V 575 D_FINISH 0 NETWORK_DEVICE -1 SEABIRD_C_I -0.0034223681

ALTIM_BOTTOM_TURN_MARGIN 0 D_FLARE 3 NOCOMM_ACTION 131 SEABIRD_C_J 0.00032313328

ALTIM_FREQUENCY 13 D_NO_BLEED 200 N_DIVES 0 SEABIRD_T_G 0.0044090361

ALTIM_PING_DELTA 0 D_OFFGRID 1000 N_FILEKB 8 SEABIRD_T_H 0.00064173015

ALTIM_PING_DEPTH 0 D_PITCH 0 N_GPS 100440 SEABIRD_T_I 2.932871e-05

ALTIM_PING_FIT 0 D_SAFE 0 N_NOCOMM 2 SEABIRD_T_J 3.827171e-06

ALTIM_PULSE 3 D_SURF 5 N_NOSURFACE 0 SIM_W 0.1

ALTIM_SENSITIVITY 2 D_TGT 250 OPTIONS 0 SM_CC 605

ALTIM_TOP_MIN_OBSTACLE 1 ESCAPE_HEADING 0 PHONE_DEVICE 33 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY 2 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 FERRY_MAX 45 PITCH_ADJ_DBAND 0 STROBE 0

APOGEE_PITCH -5 FG_AHR_10V 59.570805 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

CALL_NDIVES 1 FG_AHR_24V 123.19083 PITCH_CNV 0.0041299998 SURFACE_URGENCY_FORCE 0

CALL_TRIES 15 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 14 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 100000 GLIDE_SLOPE 30 PITCH_GAIN_AUTO_DELTA 0 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 GPS_DEVICE 48 PITCH_GAIN_AUTO_MAX 0 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 HD_A 0.0025118899 PITCH_MAX 3600 T_ABORT 1440

COMM_SEQ 7 HD_B 0.0146701 PITCH_MAXERRORS 1 T_BOOST 0

COMPASS2_DEVICE -1 HD_C 5.7000002e-06 PITCH_MIN 205 T_DIVE 83

COMPASS_DEVICE 66 HEADING -1 PITCH_TIMEOUT 30 T_EPIRB 0

COMPASS_USE 16388 HEAD_ERRBAND 10 PITCH_VBD_SHIFT 0.0015 T_GPS 30

CP_NDIVE 1.0 ICE_FREEZE_MARGIN 0.30000001 PITCH_W_DBAND 0 T_LOITER 0

CP_PROFILE 3.0 ID 248 PITCH_W_GAIN 0 T_MISSION 95

CP_RECORDABOVE 1000.0 INT_PRESSURE_SLOPE 1.9639999e-06 PRESSURE_DEVICE 34 T_NO_W 120

CP_STARTS 8.0 INT_PRESSURE_YINT -1 PRESSURE_SLOPE 6.9999999e-07 T_RSLEEP 2

CP_UPLOADMAX 100000.0 KALMAN_USE 2 PRESSURE_YINT 0 T_TURN 225

CP_XMITPROFILE 3.0 LOGGERDEVICE1 7 PROTOCOL 9 T_TURN_SAMPINT -5

C_PITCH 2050 LOGGERDEVICE2 72 RAFOS_CORR_THRESH 60 UNCOM_BLEED 20

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE3 -1 RAFOS_DEVICE -1 UPLOAD_DIVES_MAX -1

C_PITCH_AUTO_MAX 0 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 USE_BATHY -6

C_ROLL_CLIMB 2025 LOGGERS 2 RAFOS_MMODEM 0 USE_ICE 0

C_ROLL_DIVE 2360 LOITER_DBDW 0 RAFOS_PEAK_OFFSET 0 VBD_CNV -0.24529999

C_VBD 3000 LOITER_D_BOTTOM 0 RELAUNCH 1 VBD_DBAND 2

C_VBD_AUTO_DELTA 0 LOITER_D_TOP 0 RHO 1.0275 VBD_LP_IGNORE 0

C_VBD_AUTO_MAX 0 LOITER_N_DIVE 0 ROLL_ADJ_DBAND 0 VBD_MAX 3960

DBDW 0 LOITER_W_DBAND 0 ROLL_ADJ_GAIN 0 VBD_MAXERRORS 1

DEEPGLIDER 0 MASS 74553 ROLL_CNV 0.054945 VBD_MIN 500

DEEPGLIDERMB 0 MAXI_10V 1.5 ROLL_DEG 80 VBD_TIMEOUT 720

DEVICE1 10 MAXI_24V 5 ROLL_MAX 3870 W_ADJ_DBAND 0

DEVICE2 -1 MAX_BUOY 150 ROLL_MAXERRORS 1 XPDR_DEVICE 21

DEVICE3 -1 MINV_10V 11 ROLL_MIN 265 XPDR_INHIBIT 90

DEVICE4 -1 MINV_24V 11 ROLL_TIMEOUT 15 XPDR_INT -1

DEVICE5 -1 MISSION 7 SC_NDIVE 1.0 XPDR_REP -1

DEVICE6 -1 MOTHERBOARD 6 SC_PROFILE 3.0 XPDR_VALID 4

DIVE 80 NAV2_DEVICE -1 SC_RECORDABOVE 2000.0

D_ABORT 300 NAV_DEVICE -1 SC_XMITPROFILE 3.0

D_BOOST 0 NAV_MODE 0 SEABIRD_C_G -9.9958668

Pre-dive calculations and measurements:

GPS1 030723,003618,6304.228,-1716.067,0,0.5,2,-9.2 TGT_RADIUS 3000.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.80 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -41.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 030723,003915,6304.243,-1716.053,2,0.6,4,-9.2 MHEAD_RNG_PITCHd_Wd 272.4,61505,-19.2,-10.040,-24.79,2220,0.000

SPEED_LIMITS 0.174,0.217 D_GRID 1000

TGT_NAME T2 IRON 1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,789.000000,-1157.000000,312.000000

TGT_LATLONG 6300.300,-1828.700 OSC 8000307

Post-dive calculations and measurements:

FINISH 0.0,1.027169 FG_AHR_24Vo 123.352

SURF forcing FG_AHR_10Vo 59.626

SM_CCo 5396.00,311.24,0.856,0,534.0,694.4,373.6,604.91 MEM0 60108,1,0,0

SM_GC 0.75,311.24,14.08,0.70,0.856,0.065,0.067,534.0,694.4,373.6,182.9,2388.2,0,0,0,12.01,15.81,15.90 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 993580,38,52048,109

IRIDIUM_FIX 6304.15,-1716.99,030723,003333 DATA_FILE_SIZE 32183,873

TCM_TEMP 11.31 CAP_FILE_SIZE 211970,0

XPDR_PINGS 0,10.3,13.6 SDSIZE 3887104,3851264

HUMID 52.25 SDFILEDIR 450,82

TEMP 9.12 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

INTERNAL_PRESSURE 8.08842 IMPLIED_C_PITCH 2055,12.48,680,0.0,0.00

_24V_AH 14.89,127.991 IMPLIED_C_VBD 3062,15.612795,680,0

_10V_AH 14.93,0.000 GPS 030723,021024,6304.728,-1716.438,3,1.1,7,-9.2

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 686 1178 12050.87 SBE_CT 1215 24 434.39

Pitch_motor 30 170 76.39 nil 0 0 0.00

Roll_motor 68 162 165.07 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 14 15 3.14 nil 0 0 0.00

Core 2856 6 289.96 SciCon 0 0 0.00

Fast 0 0 0.00 NCP 5057 25 1887.54

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 2233 2 66.68

Compass 1171 5 87.45

RAFOS 0 0 0.00

Transponder 0 0 0.00

Compass2 0 0 0.00

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

Guidance and control:

st_secs flags vbd_ctl pitch_ctl roll_ctl vbd_ad_start vbd_pot1_ad_start vbd_pot2_ad_start pitch_ad_start roll_ad_start depth ob_vertv data_pts end_secs vbd_secs pitch_secs roll_secs vbd_i pitch_i roll_i vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_ad roll_ad vbd_errors pitch_errors roll_errors vbd_volts pitch_volts roll_volts

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

16.22 16386 -145.99 -1.59 0.00 527.4 676.6 378.2 182.9 2311.7 0.00 0.00 0 32.52 14.98 0.00 0.00 0.006 0.000 0.000 943.00 1056.56 829.44 182.81 2311.25 0 0 0 15.37 30.00 30.00

32.83 18727 -145.99 -1.59 80.00 943.0 1056.2 829.9 182.8 2311.5 3.16 -9.51 3 184.21 123.08 10.80 4.05 0.005 0.171 0.110 3594.44 3656.56 3532.31 1666.88 3824.75 0 0 0 15.51 15.69 15.29

186.75 1028 -145.99 -1.59 0.00 3595.0 3656.0 3534.0 1667.4 3824.6 18.73 -10.10 32 193.56 0.00 0.00 3.46 0.000 0.000 0.029 3595.38 3656.88 3533.88 1667.12 2304.19 0 0 0 30.00 30.00 15.83

376.81 292 -145.99 -1.59 80.00 3595.0 3656.2 3533.8 1666.4 2303.0 37.84 -9.88 70 383.85 0.00 0.00 4.05 0.000 0.000 0.106 3595.31 3656.06 3534.56 1666.75 3824.12 0 0 0 30.00 30.00 15.75

611.79 1028 -145.99 -1.59 0.00 3595.0 3656.2 3533.9 1666.6 3823.4 61.30 -10.45 117 618.65 0.00 0.00 3.51 0.000 0.000 0.030 3594.94 3655.88 3534.00 1666.56 2317.00 0 0 0 30.00 30.00 15.48

801.82 260 -145.99 -1.59 80.00 3594.9 3656.1 3533.8 1666.8 2317.3 80.34 -10.06 155 808.86 0.00 0.00 3.99 0.000 0.000 0.104 3594.53 3655.88 3533.19 1667.06 3823.81 0 0 0 30.00 30.00 15.80

1036.88 1060 -145.99 -1.59 0.00 3594.5 3655.8 3533.3 1666.8 3823.6 104.02 -10.00 202 1043.85 0.00 0.00 3.48 0.000 0.000 0.030 3595.00 3656.19 3533.81 1667.12 2316.56 0 0 0 30.00 30.00 15.84

1346.90 260 -145.99 -1.59 80.00 3594.7 3655.9 3533.4 1667.1 2315.4 135.23 -10.07 264 1354.21 0.00 0.00 4.02 0.000 0.000 0.104 3594.72 3656.06 3533.38 1666.81 3823.69 0 0 0 30.00 30.00 15.36

1451.90 1028 -145.99 -1.59 0.00 3594.7 3655.9 3533.6 1666.6 3823.3 145.74 -10.14 285 1458.87 0.00 0.00 3.47 0.000 0.000 0.028 3595.59 3656.12 3535.06 1665.94 2316.69 0 0 0 30.00 30.00 15.45

1762.03 32 -145.99 -1.59 0.00 3594.4 3655.8 3533.1 1667.1 2318.1 176.85 -9.98 347 1763.65 0.00 0.00 0.00 0.000 0.000 0.000 3593.09 3654.94 3531.25 1667.12 2317.62 0 0 0 30.00 30.00 30.00

2067.12 32 -145.99 -1.59 0.00 3594.1 3655.9 3532.2 1666.6 2316.4 207.21 -10.03 408 2068.73 0.00 0.00 0.00 0.000 0.000 0.000 3592.59 3654.69 3530.50 1666.69 2316.50 0 0 0 30.00 30.00 30.00

2372.20 32 -145.99 -1.59 0.00 3593.9 3655.8 3532.0 1666.9 2316.6 237.61 -9.73 469 2373.81 0.00 0.00 0.00 0.000 0.000 0.000 3592.38 3654.56 3530.19 1667.12 2316.38 0 0 0 30.00 30.00 30.00

2497 end dive: TARGET_DEPTH_EXCEEDED

state 2497 begin apogee

2499.53 10243 0.00 -0.36 0.00 3593.6 3655.9 3531.3 1666.7 1992.2 250.07 -9.86 494 2621.16 111.57 2.07 0.10 1.178 0.120 0.162 2998.12 3113.44 2882.81 1966.25 2087.69 0 0 0 11.72 15.83 15.58

2670 end apogee: CONTROL_FINISHED_OK

state 2670 begin climb

2671.25 10759 145.99 1.59 -80.00 2994.8 3109.4 2880.2 1966.4 2087.4 238.49 0.00 514 3025.86 112.98 3.12 4.09 1.145 0.071 0.109 2401.62 2522.81 2280.44 2442.50 559.06 0 0 0 12.30 15.63 15.38

3205.09 17414 145.99 1.59 0.00 2391.5 2509.4 2273.6 2441.9 559.1 195.83 10.29 516 3214.13 0.00 0.00 3.43 0.000 0.000 0.027 2392.88 2510.31 2275.44 2442.56 2068.12 0 0 0 30.00 30.00 15.46

3518.14 8486 153.71 1.60 80.00 2390.4 2509.0 2271.8 2443.0 2070.1 146.10 9.68 579 3531.68 6.51 0.00 3.69 0.732 0.000 0.093 2370.66 2491.62 2249.69 2443.19 3492.31 0 0 0 12.00 30.00 15.72

3729.32 1028 153.71 1.60 0.00 2371.0 2491.1 2250.9 2443.6 3492.4 124.92 10.54 621 3736.37 0.00 0.00 3.54 0.000 0.000 0.036 2371.00 2490.62 2251.38 2443.19 1992.44 0 0 0 30.00 30.00 15.51

4039.56 8742 158.60 1.61 -80.00 2370.5 2490.7 2250.2 2442.9 1992.1 93.83 9.81 683 4053.07 6.51 0.00 3.75 0.703 0.000 0.112 2349.81 2471.88 2227.75 2443.00 557.62 0 0 0 12.06 30.00 15.70

4100.67 1028 158.60 1.61 0.00 2349.5 2470.2 2228.8 2443.3 557.8 87.66 10.27 695 4107.60 0.00 0.00 3.39 0.000 0.000 0.026 2352.31 2473.81 2230.81 2442.69 2070.94 0 0 0 30.00 30.00 15.85

4290.84 32 161.23 1.61 0.00 2349.2 2470.5 2227.9 2443.5 2072.7 68.77 9.92 733 4292.45 0.00 0.00 0.00 0.000 0.000 0.000 2347.72 2468.75 2226.69 2443.12 2071.81 0 0 0 30.00 30.00 30.00

4475.76 516 161.23 1.61 -80.00 2348.9 2470.5 2227.3 2443.4 2072.2 50.32 10.21 770 4483.02 0.00 0.00 3.95 0.000 0.000 0.105 2348.94 2470.31 2227.56 2443.38 558.06 0 0 0 30.00 30.00 15.81

4520.77 1028 161.23 1.61 0.00 2348.7 2470.3 2227.1 2443.1 557.6 45.78 10.12 779 4527.68 0.00 0.00 3.38 0.000 0.000 0.026 2349.00 2470.38 2227.62 2443.38 2070.88 0 0 0 30.00 30.00 15.89

4710.79 516 161.23 1.61 -80.00 2348.4 2470.1 2226.8 2443.3 2072.3 26.74 10.06 817 4718.04 0.00 0.00 3.92 0.000 0.000 0.104 2348.34 2469.75 2226.94 2443.38 559.06 0 0 0 30.00 30.00 15.82

4765.78 1028 161.23 1.61 0.00 2348.2 2469.8 2226.7 2443.3 559.1 21.22 10.08 828 4772.71 0.00 0.00 3.39 0.000 0.000 0.025 2348.06 2469.31 2226.81 2443.06 2069.00 0 0 0 30.00 30.00 15.51

4931 end climb: SURFACE_DEPTH_REACHED

state 4931 begin surface coast

4991 end surface coast: CONTROL_FINISHED_OK

state 4991 begin surface

ID	248	TGT_DEFAULT_LON	-12218	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	1.9639999e-06
MISSION	7	TGT_AUTO_DEFAULT	0	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-1
DIVE	80	SM_CC	605	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
N_DIVES	0	N_FILEKB	8	VBD_MIN	500	DEEPGLIDERMB	0
STOP_T	0	FILEMGR	0	VBD_MAX	3960	MOTHERBOARD	6
D_SURF	5	CALL_NDIVES	1	C_VBD	3000	DEVICE1	10
D_FLARE	3	COMM_SEQ	7	VBD_DBAND	2	DEVICE2	-1
D_TGT	250	PROTOCOL	9	VBD_CNV	-0.24529999	DEVICE3	-1
D_ABORT	300	N_NOCOMM	2	VBD_LP_IGNORE	0	DEVICE4	-1
D_NO_BLEED	200	NOCOMM_ACTION	131	VBD_TIMEOUT	720	DEVICE5	-1
D_BOOST	0	N_NOSURFACE	0	PITCH_VBD_SHIFT	0.0015	DEVICE6	-1
T_BOOST	0	UPLOAD_DIVES_MAX	-1	UNCOM_BLEED	20	LOGGERS	2
D_FINISH	0	NETBOX	1	VBD_MAXERRORS	1	LOGGERDEVICE1	7
D_PITCH	0	CALL_TRIES	15	C_VBD_AUTO_DELTA	0	LOGGERDEVICE2	72
D_SAFE	0	CALL_WAIT	60	C_VBD_AUTO_MAX	0	LOGGERDEVICE3	-1
D_CALL	0	CAPUPLOAD	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
SURFACE_URGENCY	0	CAPMAXSIZE	100000	DBDW	0	COMPASS_DEVICE	66
SURFACE_URGENCY_TRY	0	T_GPS	30	LOITER_W_DBAND	0	COMPASS2_DEVICE	-1
SURFACE_URGENCY_FORCE	0	N_GPS	100440	LOITER_DBDW	0	PHONE_DEVICE	33
T_DIVE	83	T_RSLEEP	2	LOITER_D_TOP	0	GPS_DEVICE	48
T_MISSION	95	STROBE	0	LOITER_D_BOTTOM	0	RAFOS_DEVICE	-1
T_ABORT	1440	RAFOS_PEAK_OFFSET	0	LOITER_N_DIVE	0	NAV_DEVICE	-1
T_TURN	225	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	NAV2_DEVICE	-1
T_TURN_SAMPINT	-5	RAFOS_HIT_WINDOW	3600	AH0_24V	575	NETWORK_DEVICE	-1
T_NO_W	120	RAFOS_MMODEM	0	AH0_10V	0	PRESSURE_DEVICE	34
T_LOITER	0	PITCH_MIN	205	MINV_24V	11	XPDR_DEVICE	21
T_EPIRB	0	PITCH_MAX	3600	MINV_10V	11	SIM_W	0.1
USE_BATHY	-6	C_PITCH	2050	MAXI_24V	5	SEABIRD_T_G	0.0044090361
USE_ICE	0	PITCH_DBAND	0.1	MAXI_10V	1.5	SEABIRD_T_H	0.00064173015
ICE_FREEZE_MARGIN	0.30000001	PITCH_CNV	0.0041299998	FG_AHR_10V	59.570805	SEABIRD_T_I	2.932871e-05
D_OFFGRID	1000	PITCH_GAIN	14	FG_AHR_24V	123.19083	SEABIRD_T_J	3.827171e-06
RELAUNCH	1	PITCH_TIMEOUT	30	PHONE_SUPPLY	2	SEABIRD_C_G	-9.9958668
APOGEE_PITCH	-5	PITCH_MAXERRORS	1	PRESSURE_YINT	0	SEABIRD_C_H	1.1120801
MAX_BUOY	150	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	6.9999999e-07	SEABIRD_C_I	-0.0034223681
GLIDE_SLOPE	30	PITCH_ADJ_DBAND	0	COMPASS_USE	16388	SEABIRD_C_J	0.00032313328
SPEED_FACTOR	1	C_PITCH_AUTO_DELTA	0	ALTIM_PING_FIT	0	OPTIONS	0
RHO	1.0275	C_PITCH_AUTO_MAX	0	ALTIM_TOP_PING_RANGE	0	SC_RECORDABOVE	2000.0
MASS	74553	PITCH_GAIN_AUTO_DELTA	0	ALTIM_BOTTOM_TURN_MARGIN	0	SC_PROFILE	3.0
NAV_MODE	0	PITCH_GAIN_AUTO_MAX	0	ALTIM_TOP_TURN_MARGIN	0	SC_XMITPROFILE	3.0
FERRY_MAX	45	PITCH_W_GAIN	0	ALTIM_TOP_MIN_OBSTACLE	1	SC_NDIVE	1.0
KALMAN_USE	2	PITCH_W_DBAND	0	ALTIM_PING_DEPTH	0	CP_RECORDABOVE	1000.0
HD_A	0.0025118899	ROLL_MIN	265	ALTIM_PING_DELTA	0	CP_PROFILE	3.0
HD_B	0.0146701	ROLL_MAX	3870	ALTIM_FREQUENCY	13	CP_XMITPROFILE	3.0
HD_C	5.7000002e-06	ROLL_DEG	80	ALTIM_PULSE	3	CP_UPLOADMAX	100000.0
HEADING	-1	C_ROLL_DIVE	2360	ALTIM_SENSITIVITY	2	CP_STARTS	8.0
ESCAPE_HEADING	0	C_ROLL_CLIMB	2025	XPDR_VALID	4	CP_NDIVE	1.0
ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	XPDR_INHIBIT	90
FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.054945	XPDR_INT	-1
TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	15	XPDR_REP	-1

GPS1	030723,003618,6304.228,-1716.067,0,0.5,2,-9.2	TGT_RADIUS	3000.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.80	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-41.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	030723,003915,6304.243,-1716.053,2,0.6,4,-9.2	MHEAD_RNG_PITCHd_Wd	272.4,61505,-19.2,-10.040,-24.79,2220,0.000
SPEED_LIMITS	0.174,0.217	D_GRID	1000
TGT_NAME	T2	IRON	1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,789.000000,-1157.000000,312.000000
TGT_LATLONG	6300.300,-1828.700	OSC	8000307

FINISH	0.0,1.027169	FG_AHR_24Vo	123.352
SURF	forcing	FG_AHR_10Vo	59.626
SM_CCo	5396.00,311.24,0.856,0,534.0,694.4,373.6,604.91	MEM0	60108,1,0,0
SM_GC	0.75,311.24,14.08,0.70,0.856,0.065,0.067,534.0,694.4,373.6,182.9,2388.2,0,0,0,12.01,15.81,15.90	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	993580,38,52048,109
IRIDIUM_FIX	6304.15,-1716.99,030723,003333	DATA_FILE_SIZE	32183,873
TCM_TEMP	11.31	CAP_FILE_SIZE	211970,0
XPDR_PINGS	0,10.3,13.6	SDSIZE	3887104,3851264
HUMID	52.25	SDFILEDIR	450,82
TEMP	9.12	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
INTERNAL_PRESSURE	8.08842	IMPLIED_C_PITCH	2055,12.48,680,0.0,0.00
_24V_AH	14.89,127.991	IMPLIED_C_VBD	3062,15.612795,680,0
_10V_AH	14.93,0.000	GPS	030723,021024,6304.728,-1716.438,3,1.1,7,-9.2

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	686	1178	12050.87	SBE_CT	1215	24	434.39
Pitch_motor	30	170	76.39	nil	0	0	0.00
Roll_motor	68	162	165.07	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	14	15	3.14	nil	0	0	0.00
Core	2856	6	289.96	SciCon	0	0	0.00
Fast	0	0	0.00	NCP	5057	25	1887.54
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	2233	2	66.68
Compass	1171	5	87.45
RAFOS	0	0	0.00
Transponder	0	0	0.00
Compass2	0	0	0.00

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R

st_secs	flags	vbd_ctl	pitch_ctl	roll_ctl	vbd_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	pitch_ad_start	roll_ad_start	depth	ob_vertv	data_pts	end_secs	vbd_secs	pitch_secs	roll_secs	vbd_i	pitch_i	roll_i	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_ad	roll_ad	vbd_errors	pitch_errors	roll_errors	vbd_volts	pitch_volts	roll_volts
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
16.22	16386	-145.99	-1.59	0.00	527.4	676.6	378.2	182.9	2311.7	0.00	0.00	0	32.52	14.98	0.00	0.00	0.006	0.000	0.000	943.00	1056.56	829.44	182.81	2311.25	0	0	0	15.37	30.00	30.00
32.83	18727	-145.99	-1.59	80.00	943.0	1056.2	829.9	182.8	2311.5	3.16	-9.51	3	184.21	123.08	10.80	4.05	0.005	0.171	0.110	3594.44	3656.56	3532.31	1666.88	3824.75	0	0	0	15.51	15.69	15.29
186.75	1028	-145.99	-1.59	0.00	3595.0	3656.0	3534.0	1667.4	3824.6	18.73	-10.10	32	193.56	0.00	0.00	3.46	0.000	0.000	0.029	3595.38	3656.88	3533.88	1667.12	2304.19	0	0	0	30.00	30.00	15.83
376.81	292	-145.99	-1.59	80.00	3595.0	3656.2	3533.8	1666.4	2303.0	37.84	-9.88	70	383.85	0.00	0.00	4.05	0.000	0.000	0.106	3595.31	3656.06	3534.56	1666.75	3824.12	0	0	0	30.00	30.00	15.75
611.79	1028	-145.99	-1.59	0.00	3595.0	3656.2	3533.9	1666.6	3823.4	61.30	-10.45	117	618.65	0.00	0.00	3.51	0.000	0.000	0.030	3594.94	3655.88	3534.00	1666.56	2317.00	0	0	0	30.00	30.00	15.48
801.82	260	-145.99	-1.59	80.00	3594.9	3656.1	3533.8	1666.8	2317.3	80.34	-10.06	155	808.86	0.00	0.00	3.99	0.000	0.000	0.104	3594.53	3655.88	3533.19	1667.06	3823.81	0	0	0	30.00	30.00	15.80
1036.88	1060	-145.99	-1.59	0.00	3594.5	3655.8	3533.3	1666.8	3823.6	104.02	-10.00	202	1043.85	0.00	0.00	3.48	0.000	0.000	0.030	3595.00	3656.19	3533.81	1667.12	2316.56	0	0	0	30.00	30.00	15.84
1346.90	260	-145.99	-1.59	80.00	3594.7	3655.9	3533.4	1667.1	2315.4	135.23	-10.07	264	1354.21	0.00	0.00	4.02	0.000	0.000	0.104	3594.72	3656.06	3533.38	1666.81	3823.69	0	0	0	30.00	30.00	15.36
1451.90	1028	-145.99	-1.59	0.00	3594.7	3655.9	3533.6	1666.6	3823.3	145.74	-10.14	285	1458.87	0.00	0.00	3.47	0.000	0.000	0.028	3595.59	3656.12	3535.06	1665.94	2316.69	0	0	0	30.00	30.00	15.45
1762.03	32	-145.99	-1.59	0.00	3594.4	3655.8	3533.1	1667.1	2318.1	176.85	-9.98	347	1763.65	0.00	0.00	0.00	0.000	0.000	0.000	3593.09	3654.94	3531.25	1667.12	2317.62	0	0	0	30.00	30.00	30.00
2067.12	32	-145.99	-1.59	0.00	3594.1	3655.9	3532.2	1666.6	2316.4	207.21	-10.03	408	2068.73	0.00	0.00	0.00	0.000	0.000	0.000	3592.59	3654.69	3530.50	1666.69	2316.50	0	0	0	30.00	30.00	30.00
2372.20	32	-145.99	-1.59	0.00	3593.9	3655.8	3532.0	1666.9	2316.6	237.61	-9.73	469	2373.81	0.00	0.00	0.00	0.000	0.000	0.000	3592.38	3654.56	3530.19	1667.12	2316.38	0	0	0	30.00	30.00	30.00
2497	end dive: TARGET_DEPTH_EXCEEDED
state	2497	begin apogee
2499.53	10243	0.00	-0.36	0.00	3593.6	3655.9	3531.3	1666.7	1992.2	250.07	-9.86	494	2621.16	111.57	2.07	0.10	1.178	0.120	0.162	2998.12	3113.44	2882.81	1966.25	2087.69	0	0	0	11.72	15.83	15.58
2670	end apogee: CONTROL_FINISHED_OK
state	2670	begin climb
2671.25	10759	145.99	1.59	-80.00	2994.8	3109.4	2880.2	1966.4	2087.4	238.49	0.00	514	3025.86	112.98	3.12	4.09	1.145	0.071	0.109	2401.62	2522.81	2280.44	2442.50	559.06	0	0	0	12.30	15.63	15.38
3205.09	17414	145.99	1.59	0.00	2391.5	2509.4	2273.6	2441.9	559.1	195.83	10.29	516	3214.13	0.00	0.00	3.43	0.000	0.000	0.027	2392.88	2510.31	2275.44	2442.56	2068.12	0	0	0	30.00	30.00	15.46
3518.14	8486	153.71	1.60	80.00	2390.4	2509.0	2271.8	2443.0	2070.1	146.10	9.68	579	3531.68	6.51	0.00	3.69	0.732	0.000	0.093	2370.66	2491.62	2249.69	2443.19	3492.31	0	0	0	12.00	30.00	15.72
3729.32	1028	153.71	1.60	0.00	2371.0	2491.1	2250.9	2443.6	3492.4	124.92	10.54	621	3736.37	0.00	0.00	3.54	0.000	0.000	0.036	2371.00	2490.62	2251.38	2443.19	1992.44	0	0	0	30.00	30.00	15.51
4039.56	8742	158.60	1.61	-80.00	2370.5	2490.7	2250.2	2442.9	1992.1	93.83	9.81	683	4053.07	6.51	0.00	3.75	0.703	0.000	0.112	2349.81	2471.88	2227.75	2443.00	557.62	0	0	0	12.06	30.00	15.70
4100.67	1028	158.60	1.61	0.00	2349.5	2470.2	2228.8	2443.3	557.8	87.66	10.27	695	4107.60	0.00	0.00	3.39	0.000	0.000	0.026	2352.31	2473.81	2230.81	2442.69	2070.94	0	0	0	30.00	30.00	15.85
4290.84	32	161.23	1.61	0.00	2349.2	2470.5	2227.9	2443.5	2072.7	68.77	9.92	733	4292.45	0.00	0.00	0.00	0.000	0.000	0.000	2347.72	2468.75	2226.69	2443.12	2071.81	0	0	0	30.00	30.00	30.00
4475.76	516	161.23	1.61	-80.00	2348.9	2470.5	2227.3	2443.4	2072.2	50.32	10.21	770	4483.02	0.00	0.00	3.95	0.000	0.000	0.105	2348.94	2470.31	2227.56	2443.38	558.06	0	0	0	30.00	30.00	15.81
4520.77	1028	161.23	1.61	0.00	2348.7	2470.3	2227.1	2443.1	557.6	45.78	10.12	779	4527.68	0.00	0.00	3.38	0.000	0.000	0.026	2349.00	2470.38	2227.62	2443.38	2070.88	0	0	0	30.00	30.00	15.89
4710.79	516	161.23	1.61	-80.00	2348.4	2470.1	2226.8	2443.3	2072.3	26.74	10.06	817	4718.04	0.00	0.00	3.92	0.000	0.000	0.104	2348.34	2469.75	2226.94	2443.38	559.06	0	0	0	30.00	30.00	15.82
4765.78	1028	161.23	1.61	0.00	2348.2	2469.8	2226.7	2443.3	559.1	21.22	10.08	828	4772.71	0.00	0.00	3.39	0.000	0.000	0.025	2348.06	2469.31	2226.81	2443.06	2069.00	0	0	0	30.00	30.00	15.51
4931	end climb: SURFACE_DEPTH_REACHED
state	4931	begin surface coast
4991	end surface coast: CONTROL_FINISHED_OK
state	4991	begin surface